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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li><li class="navelem"><a class="el" href="dir_0695118b3b27d100933d16472a5a2e05.html">include</a></li><li class="navelem"><a class="el" href="dir_d28884e0e9991dd74831dd1628ef4f1a.html">collision</a></li><li class="navelem"><a class="el" href="dir_e6ad0a15879717e90bb3edf6e9f68e2c.html">narrowphase</a></li>  </ul>
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<div class="title">polygon.h</div>  </div>
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<a href="polygon_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef POLYGON_H_</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define POLYGON_H_</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape_8h.html">collision/narrowphase/shape.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="triangle_8h.html">collision/narrowphase/triangle.h</a>&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="triangulate_8h.html">collision/plugins/triangulation/triangulate.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classcollision_1_1_polygon.html">   19</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_polygon.html">Polygon</a> : <span class="keyword">public</span> <a class="code" href="classcollision_1_1_shape.html">Shape</a> {</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="classcollision_1_1_polygon.html#abf5c4edf28ad16dd3a0c34edf14a8a1f">Polygon</a>(std::vector&lt;Eigen::Vector2d&gt; &amp;vertices,</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;          std::vector&lt;std::vector&lt;Eigen::Vector2d&gt;&gt; &amp;hole_vertices,</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;          std::vector&lt;TriangleConstPtr&gt; &amp;mesh_triangles,</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;          <span class="keyword">const</span> Eigen::Vector2d &amp;_center = Eigen::Vector2d(0, 0));</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#if ENABLE_TRIANGULATION</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <a class="code" href="classcollision_1_1_polygon.html#abf5c4edf28ad16dd3a0c34edf14a8a1f">Polygon</a>(std::vector&lt;Eigen::Vector2d&gt; &amp;vertices, <span class="keywordtype">double</span> mesh_quality_b = 0,</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;          <span class="keyword">const</span> Eigen::Vector2d &amp;_center = Eigen::Vector2d(0, 0));</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <a class="code" href="classcollision_1_1_polygon.html#abf5c4edf28ad16dd3a0c34edf14a8a1f">Polygon</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_polygon.html">Polygon</a> &amp;copy);</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <a class="code" href="classcollision_1_1_polygon.html">Polygon</a> *<a class="code" href="classcollision_1_1_polygon.html#a1c56f4c464b57bcea59b028b1ae4a830">clone</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_polygon.html#a31ae7f712f5da946ad569b056815747c">type</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_polygon.html#a34b4e3ad90a717e907d069cf0816581f">rayTrace</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;point1, <span class="keyword">const</span> Eigen::Vector2d &amp;point2,</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                std::vector&lt;LineSegment&gt; &amp;intersect) <span class="keyword">const override</span>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classcollision_1_1_polygon.html#affdd58fa375f7bf0a6459a6c509688fe">   41</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="classcollision_1_1_polygon.html#affdd58fa375f7bf0a6459a6c509688fe">~Polygon</a>() {}</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_polygon.html#a92e0556588da046d1139d15fca72b8f1">toString</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_polygon.html#af3bedde3049919e0d0c078a76e70adc7">print</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <a class="code" href="classcollision_1_1_polygon.html#a991b4dbc5536a52922e952f6da0df5aa">timeSlice</a>(<span class="keywordtype">int</span> time_idx, <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> shared_ptr_this) <span class="keyword">const</span>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  std::vector&lt;TriangleConstPtr&gt; <a class="code" href="classcollision_1_1_polygon.html#a6c6fe0fa3c4ddac8549dd2149f106638">getTriangleMesh</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  std::vector&lt;Eigen::Vector2d&gt; <a class="code" href="classcollision_1_1_polygon.html#aebcacac382938dd7d39f469b28a8f9a6">getVertices</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  std::vector&lt;std::vector&lt;Eigen::Vector2d&gt;&gt; <a class="code" href="classcollision_1_1_polygon.html#aedcc2b82df7987c088fd7ac7dcd89f06">getHoleVertices</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classcollision_1_1_polygon.html#a39abe4295b7ba9f7f973159c6b27bf7d">   51</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a> <a class="code" href="classcollision_1_1_polygon.html#a39abe4295b7ba9f7f973159c6b27bf7d">getCollisionObjectType</a>()<span class="keyword"> const override </span>{</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a3077eb48bb098e9e6961c790903c2759">CollisionObjectType::OBJ_TYPE_POLYGON</a>;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  }</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <a class="code" href="classcollision_1_1serialize_1_1_i_collision_object_export.html">serialize::ICollisionObjectExport</a> *exportThis(<span class="keywordtype">void</span>) <span class="keyword">const override</span>;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classcollision_1_1_polygon.html#a8df9d6923aa68f1ecaec4d3fe71bf3f1">   60</a></span>&#160;  <span class="keyword">static</span> constexpr <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_polygon.html#a8df9d6923aa68f1ecaec4d3fe71bf3f1">type_</a> = <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a3dcd4853033e080918950cce263f8bc7">TYPE_POLYGON</a>;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a> *</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <a class="code" href="classcollision_1_1_polygon.html#aabed6ce29dec3f5700f538d8b8c1a383">createFCLCollisionGeometry</a>(<span class="keywordtype">void</span>) <span class="keyword">const override</span>;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *<a class="code" href="classcollision_1_1_polygon.html#a8fa7d4bca57e4c7be035eb5bf38b5fb3">createFCLCollisionObject</a>(</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">const</span> std::shared_ptr&lt;<a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a>&gt; &amp;)</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">const override</span>;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classcollision_1_1_polygon.html#a4067cb76e4acf3024bcb1555f92fd3c2">   67</a></span>&#160;  std::vector&lt;Eigen::Vector2d&gt; <a class="code" href="classcollision_1_1_polygon.html#a4067cb76e4acf3024bcb1555f92fd3c2">vertices_</a>;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classcollision_1_1_polygon.html#afffca4faf41c7ed88a7c45418e355b84">   68</a></span>&#160;  std::vector&lt;std::vector&lt;Eigen::Vector2d&gt;&gt; <a class="code" href="classcollision_1_1_polygon.html#afffca4faf41c7ed88a7c45418e355b84">hole_vertices_</a>;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classcollision_1_1_polygon.html#a02bab9cdaf148d34f71db0e18b5cc023">   69</a></span>&#160;  std::vector&lt;TriangleConstPtr&gt; <a class="code" href="classcollision_1_1_polygon.html#a02bab9cdaf148d34f71db0e18b5cc023">mesh_triangles_</a>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;};</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="namespacecollision.html#af3e2ab8a0764e1432ae4a677eb783f77">   72</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;Polygon&gt; <a class="code" href="namespacecollision.html#af3e2ab8a0764e1432ae4a677eb783f77">PolygonPtr</a>;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="namespacecollision.html#a9560a043027743a70e74e5172c677359">   73</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;const Polygon&gt; <a class="code" href="namespacecollision.html#a9560a043027743a70e74e5172c677359">PolygonConstPtr</a>;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classcollision_1_1_polygon_html_aebcacac382938dd7d39f469b28a8f9a6"><div class="ttname"><a href="classcollision_1_1_polygon.html#aebcacac382938dd7d39f469b28a8f9a6">collision::Polygon::getVertices</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector2d &gt; getVertices() const</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8cc_source.html#l00114">polygon.cc:114</a></div></div>
<div class="ttc" id="triangulate_8h_html"><div class="ttname"><a href="triangulate_8h.html">triangulate.h</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_aabed6ce29dec3f5700f538d8b8c1a383"><div class="ttname"><a href="classcollision_1_1_polygon.html#aabed6ce29dec3f5700f538d8b8c1a383">collision::Polygon::createFCLCollisionGeometry</a></div><div class="ttdeci">fcl::CollisionGeometry&lt; FCL_PRECISION &gt; * createFCLCollisionGeometry(void) const override</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8cc_source.html#l00080">polygon.cc:80</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_a34b4e3ad90a717e907d069cf0816581f"><div class="ttname"><a href="classcollision_1_1_polygon.html#a34b4e3ad90a717e907d069cf0816581f">collision::Polygon::rayTrace</a></div><div class="ttdeci">bool rayTrace(const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; LineSegment &gt; &amp;intersect) const override</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8cc_source.html#l00038">polygon.cc:38</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_a8df9d6923aa68f1ecaec4d3fe71bf3f1"><div class="ttname"><a href="classcollision_1_1_polygon.html#a8df9d6923aa68f1ecaec4d3fe71bf3f1">collision::Polygon::type_</a></div><div class="ttdeci">static constexpr ShapeType type_</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8h_source.html#l00060">polygon.h:60</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_a6c6fe0fa3c4ddac8549dd2149f106638"><div class="ttname"><a href="classcollision_1_1_polygon.html#a6c6fe0fa3c4ddac8549dd2149f106638">collision::Polygon::getTriangleMesh</a></div><div class="ttdeci">std::vector&lt; TriangleConstPtr &gt; getTriangleMesh() const</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8cc_source.html#l00110">polygon.cc:110</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_abf5c4edf28ad16dd3a0c34edf14a8a1f"><div class="ttname"><a href="classcollision_1_1_polygon.html#abf5c4edf28ad16dd3a0c34edf14a8a1f">collision::Polygon::Polygon</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Polygon(std::vector&lt; Eigen::Vector2d &gt; &amp;vertices, std::vector&lt; std::vector&lt; Eigen::Vector2d &gt;&gt; &amp;hole_vertices, std::vector&lt; TriangleConstPtr &gt; &amp;mesh_triangles, const Eigen::Vector2d &amp;_center=Eigen::Vector2d(0, 0))</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8cc_source.html#l00013">polygon.cc:13</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_a39abe4295b7ba9f7f973159c6b27bf7d"><div class="ttname"><a href="classcollision_1_1_polygon.html#a39abe4295b7ba9f7f973159c6b27bf7d">collision::Polygon::getCollisionObjectType</a></div><div class="ttdeci">virtual CollisionObjectType getCollisionObjectType() const override</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8h_source.html#l00051">polygon.h:51</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">collision::CollisionObjectType</a></div><div class="ttdeci">CollisionObjectType</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00016">collision_object_types.h:16</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_a31ae7f712f5da946ad569b056815747c"><div class="ttname"><a href="classcollision_1_1_polygon.html#a31ae7f712f5da946ad569b056815747c">collision::Polygon::type</a></div><div class="ttdeci">ShapeType type(void) const</div><div class="ttdoc">Get shape type.</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8cc_source.html#l00066">polygon.cc:66</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3a3dcd4853033e080918950cce263f8bc7"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a3dcd4853033e080918950cce263f8bc7">collision::TYPE_POLYGON</a></div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00018">shape.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_a92e0556588da046d1139d15fca72b8f1"><div class="ttname"><a href="classcollision_1_1_polygon.html#a92e0556588da046d1139d15fca72b8f1">collision::Polygon::toString</a></div><div class="ttdeci">virtual void toString(std::ostringstream &amp;stream) const</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8cc_source.html#l00070">polygon.cc:70</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149a3077eb48bb098e9e6961c790903c2759"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a3077eb48bb098e9e6961c790903c2759">collision::OBJ_TYPE_POLYGON</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00023">collision_object_types.h:23</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_geometry_html"><div class="ttname"><a href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object_8h_source.html#l00010">i_fcl_collision_object.h:10</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_html_a9560a043027743a70e74e5172c677359"><div class="ttname"><a href="namespacecollision.html#a9560a043027743a70e74e5172c677359">collision::PolygonConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const Polygon &gt; PolygonConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8h_source.html#l00073">polygon.h:73</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_aedcc2b82df7987c088fd7ac7dcd89f06"><div class="ttname"><a href="classcollision_1_1_polygon.html#aedcc2b82df7987c088fd7ac7dcd89f06">collision::Polygon::getHoleVertices</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; Eigen::Vector2d &gt; &gt; getHoleVertices() const</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8cc_source.html#l00116">polygon.cc:116</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_a4067cb76e4acf3024bcb1555f92fd3c2"><div class="ttname"><a href="classcollision_1_1_polygon.html#a4067cb76e4acf3024bcb1555f92fd3c2">collision::Polygon::vertices_</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector2d &gt; vertices_</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8h_source.html#l00067">polygon.h:67</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_a1c56f4c464b57bcea59b028b1ae4a830"><div class="ttname"><a href="classcollision_1_1_polygon.html#a1c56f4c464b57bcea59b028b1ae4a830">collision::Polygon::clone</a></div><div class="ttdeci">Polygon * clone() const</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8cc_source.html#l00055">polygon.cc:55</a></div></div>
<div class="ttc" id="classcollision_1_1serialize_1_1_i_collision_object_export_html"><div class="ttname"><a href="classcollision_1_1serialize_1_1_i_collision_object_export.html">collision::serialize::ICollisionObjectExport</a></div><div class="ttdef"><b>Definition:</b> <a href="i__collision__object__export_8h_source.html#l00008">i_collision_object_export.h:8</a></div></div>
<div class="ttc" id="triangle_8h_html"><div class="ttname"><a href="triangle_8h.html">triangle.h</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_a8fa7d4bca57e4c7be035eb5bf38b5fb3"><div class="ttname"><a href="classcollision_1_1_polygon.html#a8fa7d4bca57e4c7be035eb5bf38b5fb3">collision::Polygon::createFCLCollisionObject</a></div><div class="ttdeci">fcl::CollisionObject&lt; FCL_PRECISION &gt; * createFCLCollisionObject(const std::shared_ptr&lt; fcl::CollisionGeometry&lt; FCL_PRECISION &gt;&gt; &amp;) const override</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8cc_source.html#l00097">polygon.cc:97</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_affdd58fa375f7bf0a6459a6c509688fe"><div class="ttname"><a href="classcollision_1_1_polygon.html#affdd58fa375f7bf0a6459a6c509688fe">collision::Polygon::~Polygon</a></div><div class="ttdeci">virtual ~Polygon()</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8h_source.html#l00041">polygon.h:41</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_af3bedde3049919e0d0c078a76e70adc7"><div class="ttname"><a href="classcollision_1_1_polygon.html#af3bedde3049919e0d0c078a76e70adc7">collision::Polygon::print</a></div><div class="ttdeci">virtual void print(std::ostringstream &amp;stream) const</div><div class="ttdoc">Print all parameters of the shape.</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8cc_source.html#l00068">polygon.cc:68</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">collision::ShapeType</a></div><div class="ttdeci">ShapeType</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00012">shape.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_a991b4dbc5536a52922e952f6da0df5aa"><div class="ttname"><a href="classcollision_1_1_polygon.html#a991b4dbc5536a52922e952f6da0df5aa">collision::Polygon::timeSlice</a></div><div class="ttdeci">virtual CollisionObjectConstPtr timeSlice(int time_idx, CollisionObjectConstPtr shared_ptr_this) const</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8cc_source.html#l00105">polygon.cc:105</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html"><div class="ttname"><a href="classcollision_1_1_shape.html">collision::Shape</a></div><div class="ttdoc">Base prototype for the shape of an obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00024">shape.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_a02bab9cdaf148d34f71db0e18b5cc023"><div class="ttname"><a href="classcollision_1_1_polygon.html#a02bab9cdaf148d34f71db0e18b5cc023">collision::Polygon::mesh_triangles_</a></div><div class="ttdeci">std::vector&lt; TriangleConstPtr &gt; mesh_triangles_</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8h_source.html#l00069">polygon.h:69</a></div></div>
<div class="ttc" id="namespacecollision_html_af3e2ab8a0764e1432ae4a677eb783f77"><div class="ttname"><a href="namespacecollision.html#af3e2ab8a0764e1432ae4a677eb783f77">collision::PolygonPtr</a></div><div class="ttdeci">std::shared_ptr&lt; Polygon &gt; PolygonPtr</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8h_source.html#l00072">polygon.h:72</a></div></div>
<div class="ttc" id="shape_8h_html"><div class="ttname"><a href="shape_8h.html">shape.h</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_afffca4faf41c7ed88a7c45418e355b84"><div class="ttname"><a href="classcollision_1_1_polygon.html#afffca4faf41c7ed88a7c45418e355b84">collision::Polygon::hole_vertices_</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; Eigen::Vector2d &gt; &gt; hole_vertices_</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8h_source.html#l00068">polygon.h:68</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html"><div class="ttname"><a href="classcollision_1_1_polygon.html">collision::Polygon</a></div><div class="ttdoc">Polygon contains Triangles and Vertices.</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8h_source.html#l00019">polygon.h:19</a></div></div>
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